CN110133620A - Multi-line laser radar - Google Patents
Multi-line laser radar Download PDFInfo
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- CN110133620A CN110133620A CN201910316860.9A CN201910316860A CN110133620A CN 110133620 A CN110133620 A CN 110133620A CN 201910316860 A CN201910316860 A CN 201910316860A CN 110133620 A CN110133620 A CN 110133620A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of multi-line laser radars.It include: laser emitter, for emitting shoot laser；Light shaping device, for expanding the coverage area of shoot laser；Secondary mirror, for principal reflection mirror will to be reflexed to by the shoot laser of the light shaping device；Principal reflection mirror for that the laser that secondary mirror reflects will be reflexed to the target object in detection viewing field again, while being also used to receive reflection laser and reflection laser reflexed to laser detector；Wherein, the reflection laser is the laser that the shoot laser is returned after target object reflection；Receiving lens, for reflection laser to be collected to laser detector.Laser detector, for receiving reflection laser and exporting detectable signal；Wherein, laser emitter, secondary mirror, principal reflection mirror, receiving lens, laser detector are around central axis synchronous rotary.The multi-line laser radar that the application proposes realizes the laser acquisition that single-shot is received more, and structure is simple, and then cost is relatively low.
Description
Technical field
This application involves laser radar technique field more particularly to a kind of multi-line laser radars.
Background technique
With the development and application of optical technology, occur much carrying out detecting objects body to emit laser beam in succession
The laser radar system of the characteristic quantities such as position, speed, posture, orientation, shape, and the laser radar system can be widely applied to
Various fields of measurement, for example, technical field of navigation and positioning, engineering ranging technology field etc..
Currently, laser radar system mainly uses multi-line laser radar realization to sweep the feature of the target object in all directions
It retouches and measures, and in multi-line laser radar structure, frequently include multiple laser emitters and multiple corresponding laser detectors.
Wherein, multiple laser emitters carry out longitudinal arrangement, can produce the multi beam shoot laser in longitudinal field range, when the multi beam
Reflection laser is formed after reflecting on shoot laser homed on its target object, it is corresponding in multiple laser detectors in multi-line laser radar
Detector receive reflection laser, and the reflection laser is transferred to corresponding optical signal processor and is handled, to complete pair
The detection of target object.
But traditional multi-line laser radar has multiple laser emitters and laser pickoff, its structure is complicated, cost
It is high.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, multi-line laser radar structure can effectively be simplified by providing one kind, and
Reduce the multi-line laser radar of multi-line laser radar cost of manufacture.
A kind of multi-line laser radar, which comprises
Laser emitter, for emitting shoot laser；
Light shaping device, for expanding the light beam coverage area of the shoot laser；
Secondary mirror, for principal reflection mirror will to be reflexed to by the shoot laser of the light shaping device；
The principal reflection mirror, the shoot laser for reflecting the secondary mirror reflex in detection viewing field again
Target object on, while being also used to receive reflection laser and the reflection laser reflexed into laser detector；Wherein, described
Reflection laser is the laser that the shoot laser is returned after target object reflection；
Receiving lens, for the reflection laser to be collected to laser detector；
The laser detector, for receiving the reflection laser and exporting detectable signal；
Wherein, the laser emitter, the secondary mirror, the principal reflection mirror, the receiving lens, the laser are visited
Device is surveyed around central axis synchronous rotary.
The laser detector is laser detector linear array in one of the embodiments,.
The multi-line laser radar in one of the embodiments, further include: collimating mirror；The collimating mirror is located at described sharp
In the optical path of the shoot laser of optical transmitting set, the collimating mirror is for collimating the shoot laser.
The light shaping device in the multi-line laser radar is beam expanding lens in one of the embodiments,；The beam expanding lens position
In on the emitting light path of the laser emitter；
The beam expanding lens is used to expand the spot diameter of the shoot laser.
The light shaping device in the multi-line laser radar is beam splitter in one of the embodiments,；The beam splitter position
In on the emitting light path of the laser emitter；
The beam splitter is used to the shoot laser being uniformly divided into multi beam.
The receiving lens are Fresnel Lenses in one of the embodiments,.
The secondary mirror is located at the center above the receiving lens in one of the embodiments, described to swash
Optical detector is located at the lower section of the receiving lens.
The multi-line laser radar in one of the embodiments, further include: shell；The laser emitter, the light
Reshaper, the secondary mirror, the principal reflection mirror, the receiving lens, the laser detector are located at the enclosure interior.
Transmissive window is offered on the shell in one of the embodiments,；The transmissive window is for swashing the outgoing
Light outgoing, while filtering out the interference light in the reflection laser.
The top of the case inside includes light-absorption layer in one of the embodiments,；The light-absorption layer is for absorbing institute
State the stray light that transmissive window is reflected into the top of the shell.
Multi-line laser radar provided by the present application, comprising: laser transmitter projects shoot laser, and pass sequentially through light shaping
Shoot laser is emitted on target object by device, secondary mirror and principal reflection mirror, the reflection then reflected from target object
Laser passes sequentially through principal reflection mirror and receiving lens again, is pooled on laser detector, and laser detector is enable effectively to receive
To reflection laser, wherein laser emitter, light shaping device, secondary mirror, principal reflection mirror, receiving lens, laser detector are in
Mandrel synchronous rotary makes multi-line laser radar can be realized the scanning probe of search coverage.Above-mentioned multi-line laser radar, by swashing
Optical transmitting set and light shaping device expand the light beam coverage area of shoot laser, expand spot diameter or increase emergent light
Beam, it is only necessary to which the field angle and resolution ratio of multiple laser emitter coverings can be realized in a laser emitter；It is received using single-shot more,
The field angle and resolution requirement for meeting multi-line laser radar detection reduce device use, greatly simplify multi-thread sharp
Optical detection and ranging system reduces power consumption and heat production, thereby reduces the manufacturing cost of multi-line laser.
Detailed description of the invention
Fig. 1 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 2 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 3 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 4 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 5 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 6 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 6 A is the schematic diagram for the beam splitter that one embodiment provides；
Fig. 7 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 8 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Fig. 9 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Figure 10 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Figure 11 is the schematic diagram for the multi-line laser radar that one embodiment provides；
Description of symbols:
Laser emitter 10；Secondary mirror 11；Principal reflection mirror 12；Target object 13；
Receiving lens 14；Laser detector 15；Cavity 16；Motor 17；
Support rod 18；Beam expanding lens 19；Collimating mirror 20；Shell 21；
Decoder 22；Conductive slip ring 23；Beam splitter 24；Light shaping device 25；
Fixed platform 161；The first side wall 162；Second sidewall 163；
Cavity bottom 164；Transmissive window 211；Light-absorption layer 212.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the application, and do not have to
In restriction the application.
In one embodiment, Fig. 1 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in Figure 1, should
Multi-line laser radar 1 includes: laser emitter 10, for emitting shoot laser；Light shaping device 25 swashs for expanding the outgoing
The light beam coverage area of light；Secondary mirror 11, for principal reflection mirror 12 will to be reflexed to by the shoot laser of light shaping device 25；
Principal reflection mirror 12, the shoot laser for reflecting secondary mirror 11 reflex to the target object 13 in detection viewing field again,
It is also used to receive reflection laser simultaneously and reflection laser is reflexed into laser detector 15；Wherein, reflection laser is shoot laser
The laser returned after being reflected by target object；Receiving lens 14 are used to reflection laser being collected to laser detector 15, laser
Detector 15, for receiving reflection laser and exporting detectable signal；Above-mentioned laser emitter 10, secondary mirror 11, principal reflection mirror
12, receiving lens 14, laser detector 15 are around central axis synchronous rotary.
Above-mentioned laser emitter 10 is that a kind of light source that can launch certain wave band light beam in practical applications can
It, optionally, can also be specifically using quality is preferable, the biggish vertical cavity surface-emitting laser of power specifically to use solid-state laser
Device (VCSEL) optionally can also use LD collimated light source.
Above-mentioned light shaping device 25 is a kind of rib of the light beam coverage area of shoot laser that can change laser emitter 10
Mirror, for example, beam expanding lens, beam splitter etc..
Above-mentioned secondary mirror 11 is a kind of prism for capableing of reflection laser, and in the present embodiment, secondary mirror 11 includes one
A reflecting slant, and the reflecting slant is capable of the shoot laser of reflection laser transmitter 10, and by the laser reflection of reflection to master
On reflecting mirror 12.As shown in Figure 1, reflecting slant in secondary mirror 11 and horizontal line have certain tilt angle, and this
Tilt angle can be configured according to practical application request, with no restriction to this present embodiment.
Optionally, above-mentioned secondary mirror 11 is located at the center of 14 top of receiving lens, so that by this reflecting mirror 11
The center of the shoot laser alignment principal reflection mirror 12 of reflection, meanwhile, so that receiving lens 14 are in the reflection for receiving principal reflection mirror 12
When laser, do not influenced by blocking for secondary mirror 11, can reception reflection laser as much as possible, with normally to reflection laser into
Row detection.
Above-mentioned principal reflection mirror 12 is a kind of reflecting mirror for capableing of reflection laser, and in the present embodiment, principal reflection mirror 12 includes
One reflecting slant, and the reflecting slant can reflect the laser of the reflection of secondary mirror 11, and by the laser reflection of reflection to master
On target object 13, so that shoot laser can be irradiated on target object 13 by the multi-line laser radar 1 that the application proposes, with
It realizes the scanning to target object 13, and then realizes the detection to target object.As shown in Figure 1, the reflection on principal reflection mirror 12
Inclined-plane and horizontal line have certain tilt angle, and this tilt angle can be configured according to practical application request, right
This present embodiment is with no restriction.
It should be noted that the reflecting slant of the area of the reflecting slant of above-mentioned secondary mirror 11 and above-mentioned principal reflection mirror 12
Area can be different.The area of the reflecting slant of secondary mirror 11 in the present embodiment is less than the reflecting slant of principal reflection mirror 12
Area, all reflection lasers can be reflected towards principal reflection mirror 12, secondary reflection in the reflecting slant area of secondary mirror 11
The area of mirror 11 is small as far as possible, to reduce the reflection laser for blocking principal reflection mirror 12 and receiving and reflecting, improves the energy of reflection laser
Utilization rate.
Above-mentioned receiving lens 14 are a kind of lens that can collect laser, and optionally, above-mentioned receiving lens 14 are also
It can be a kind of lens that the laser of one fixed width progress multiple beam can be collected respectively.It is optionally, above-mentioned in the present embodiment
Receiving lens 14 can specifically use Fresnel Lenses, can also use other types of lens, not limit this present embodiment
System.In the present embodiment, receiving lens 14 include incident interface and reflecting interface, and incident interface can be a plane, specific to use
In the reflection laser for receiving principal reflection mirror 12；And reflecting interface may include multiple convex surfaces, being specifically used for will be saturating from incident interface
Incoming incident light carries out the convergence respectively of multi-beam, and the multi-beam after convergence is pooled on laser detector 15.
Optionally, in order to guarantee higher capacity usage ratio, the reception system of laser radar generally requires as big as possible
Clear aperture, thus the bore of above-mentioned receiving lens 14 answered under the premise of cost is controllable it is as large as possible.Due to radar itself
It is zero visual field, therefore the influence of spherical aberration can be ignored；To shorten radar longitudinal size as far as possible, it may be considered that saturating using short focus
Mirror.In addition, receiving lens 14 in the present embodiment can be specially Fresnel Lenses, into one since lens curvature is smaller
Step reduces the manufacturing cost of multi-line laser radar.Same principle can only use the following table of lens under the conditions of not considering spherical aberration
Face dioptric, upper surface can be made plane, allow secondary mirror 11 that surface on it is fixedly mounted, specifically can be using viscous
The mode connect is fixed.
Above-mentioned laser detector 15 is a kind of photodetector.In the present embodiment, optionally, above-mentioned laser detector 15 can
Specifically to use APD linear array detector.And the APD linear array detector can correspond to and receive multiple laser light beam, then will receive
Multiple laser light beam be converted into corresponding electric signal.When the laser detector 15 in the present embodiment is APD linear array detector,
APD linear array detector needs to match with the light visual field that goes out of receiving lens 14, i.e., each detector in APD linear array detector can be right
Each beam laser beam that lens collect should be normally received.
Optionally, above-mentioned laser detector 15 is located at the lower section of receiving lens 14, so that receiving lens 14 can will be collected
On the corresponding light sensation face for being emitted to laser detector 15 of laser beam afterwards, and then keep laser detector 15 accurately right
Laser beam carries out photoelectric conversion.
Above-mentioned laser emitter 10, secondary mirror 11, principal reflection mirror 12, receiving lens 14, laser detector 15 can have
It around central axis synchronous rotary, can specifically be rotated by 360 °, optionally, can be revolved around central axis with clockwise direction is synchronous
Turn, it can also be around central axis with direction synchronous rotary counterclockwise.
In conjunction with the above-mentioned explanation to each component, referring to Fig. 1, to the working principle of the multi-line laser radar 1 described in this implementation
It is illustrated.Its working principle is that: the mesh in the detection viewing field that multi-line laser radar 1 needs to around 360 ° or other angles
Mark object 13 is scanned, thus laser emitter when realization detects the detection viewing field, in the multi-line laser radar 1
On 10 transmitting shoot lasers to the reflecting slant of secondary mirror 11 therein, which again arrives incident laser reflection
In the reflecting slant of principal reflection mirror 12, principal reflection mirror 12 is real further by incident laser reflection to target object 13
Now to the scanning probe of the target object 13 in detection viewing field.When the laser for being incident on its surface overflow instead by target object 13
When penetrating, the laser of reflection can be reflexed on principal reflection mirror 12, principal reflection mirror 12 again by the reflecting slant of certain tilt angle,
Diffusing for target object 13 is reflexed into the plane of incidence of receiving lens 14, then receiving lens 14 are flat by its transmission again
The laser of transmission is converged in face, and each light beam after convergence is pooled on laser detector 15, makes laser detector 15
The reflected laser from target object 13 can be normally received, thus by carrying out at analysis to the reflected laser
Reason realizes the detection to target object 13.
It should be noted that when above-mentioned multi-line laser radar 1 realizes 360 ° of scanning probes, above-mentioned laser emitter 10,
Secondary mirror 11, principal reflection mirror 12, receiving lens 14, laser detector 15 can be simultaneously around 360 ° of center axis rotation, so as to swash
The shoot laser of optical transmitting set 10 can be scanned 360 ° of detection viewing field, and laser detector 15 is allow to correspond to reception
The echo beam of target object in 360 ° of detection viewing field, so that above-mentioned multi-line laser radar 1 completes 360 ° of transversal scanning.
The multi-line laser radar that the application proposes, comprising: laser transmitter projects shoot laser, and pass sequentially through secondary reflection
Shoot laser is emitted on target object by mirror, light shaping device and principal reflection mirror, the reflection then reflected from target object
Laser passes sequentially through principal reflection mirror and receiving lens again, is pooled on laser detector, and laser detector is enable effectively to receive
To reflection laser, wherein laser emitter, light shaping device, secondary mirror, principal reflection mirror, receiving lens, laser detector are in
Mandrel synchronous rotary makes multi-line laser radar can be realized the scanning probe of search coverage.Above-mentioned multi-line laser radar realizes
Single-shot mostly receipts and coaxial transmitting and received laser radar detection.Above-mentioned multi-line laser radar, passes through laser emitter and light
Reshaper expands the light beam coverage area of shoot laser, expands spot diameter or increases outgoing beam, it is only necessary to which one is swashed
The field angle and resolution ratio of multiple laser emitter coverings can be realized in optical transmitting set；It is received more, is met multi-thread sharp using single-shot
The field angle and resolution requirement of optical radar detection reduce device use, greatly simplify multi-line laser radar system, drop
Low-power consumption and heat production thereby reduce the manufacturing cost of multi-line laser.
Optionally, above-mentioned laser detector 15 is specifically as follows laser detector linear array, and the laser detector linear array
Column are matched with detection viewing field.In the present embodiment, laser detector linear array can the multiple laser that collect to receiving lens simultaneously
Therefore light beam, which carries out photoelectric conversion, may be implemented the shoot laser to multiple laser emitters using laser detector linear array
It is detected, to realize the design requirement that single-shot is received more.
In one embodiment, Fig. 2 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in Fig. 2, should
The structure for the multi-line laser radar 1 that multi-line laser radar 1 is related to based on Fig. 1 embodiment can also include: cavity 16；Cavity 16
It is connect with motor 17；Cavity 16 is for storing laser emitter 10, light shaping device 25, secondary mirror 11, principal reflection mirror 12, receiving
Lens 14 and laser detector 15；Motor 17 is for driving cavity 16 to rotate.
Optionally, referring to fig. 2, above-mentioned cavity 16 is equivalent to an open containers, and principal reflection mirror 12 is located at the cavity 16
Apical position, allow principal reflection mirror 12 normally receive secondary mirror 11 reflection laser；The inside of above-mentioned cavity 16 can be with
Including a fixed platform 161, and the fixed platform can be located at the middle section of cavity 16.Specifically, laser emitter 10
It can be located in the fixed platform 161, and one end of the fixed platform 161 is fixed on the first side wall 162 of cavity 16, this is solid
One end of the other end connection receiving lens 14 of fixed platform 161；The second sidewall of the other end connection cavity 16 of receiving lens 14
On 163.In this structure basis, laser detector 15 can be located at the cavity bottom 164 of cavity 16, to receive across connecing
Receive the laser beam of lens 14.An aperture can be set in cavity bottom 16, for making laser emitter 10 and laser detector
15 power supply line, input and output conducting wire, which pass through, to be extended back to other places, is connect with other devices, such as power supply, controller.On
The topology layout stated is a kind of optional scheme.Any above structure layout or its distressed structure layout, as long as meeting this
Apply for the working principle of the multi-line laser radar proposed, all within the scope of protection of this application.
Above-mentioned motor 17 is connect with above-mentioned cavity 16, and the control instruction or control that the motor 17 can be inputted according to user
Signal drives cavity 16 connected to it to carry out 360 ° of rotation, to drive laser reflector 10, the secondary reflection in cavity 16
Mirror 11, principal reflection mirror 12, receiving lens 14, laser detector 15 can be 360 ° around central axis synchronous rotary, so that this is multi-thread sharp
Optical radar can carry out comprehensive detection to ambient enviroment.
The application propose multi-line laser radar, by using cavity by laser emitter, secondary mirror, principal reflection mirror,
Receiving lens and laser detector storage together, and these devices are fixed on a corresponding position, realize particular orientation
The outgoing of laser.And in practical applications, when multi-line laser radar needs to change laser by rotating relevant light path devices
Outgoing orientation, that is, rotate above-mentioned laser emitter, secondary mirror, principal reflection mirror, receiving lens and laser detector
When, the multi-line laser radar that the application proposes drives cavity by motor, i.e., the whole each light path devices driven in cavity are together
Rotation, to realize the adjustment to laser emitting orientation.
In one embodiment, Fig. 3 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in figure 3, should
The structure for the multi-line laser radar 1 that multi-line laser radar 1 is related to based on Fig. 2 embodiment, further includes: support rod 18；Support rod 18
One end connection cavity 16, the other end of support rod 18 connects motor 17；Motor 17 drives cavity 16 to rotate by support rod 18.
Above-mentioned support rod 18 can use the bar of metal material, optionally, the bar of other materials can also be used, as long as energy
All light path devices for enough supporting above-mentioned cavity 16 and cavity 16 to accommodate, with no restriction to this present embodiment.
In above-described embodiment, motor is connect by support rod with cavity, so, support rod can reduce cavity in rotation
Friction between motor keeps the rotation angle of cavity more accurate, to improve the detection accuracy of multi-line laser radar.
In one embodiment, Fig. 4 is the schematic diagram for the multi-line laser radar that one embodiment provides.On as shown in figure 4,
Stating multi-line laser radar 1 described in any embodiment can also include: beam expanding lens 19；Beam expanding lens 19 is located at laser emitter 10
On emitting light path.Above-mentioned beam expanding lens 19 is used to expand the spot diameter of shoot laser.
In the present embodiment, beam expanding lens 19 is located in the optical path among laser emitter 10 and secondary mirror 11, and being used for will
The shoot laser that laser emitter 10 emits is expanded, to expand the spot diameter of the shoot laser, so that it is multi-thread to expand this
The search coverage of laser radar.
In one embodiment, Fig. 5 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in figure 5, base
In Fig. 4 embodiment, the multi-line laser radar 1 of the present embodiment further include: collimating mirror 20；Collimating mirror 20 is located at laser emitter 10
In the optical path of shoot laser, collimating mirror 20 is for collimating shoot laser.
In the present embodiment, the angle of divergence for the shoot laser that collimating mirror 20 emits for changing laser emitter 10, in turn
Shoot laser is collimated, the directional light to export on the directional light to beam expanding lens 19 after collimation, after making beam expanding lens collimation
Make the processing of next step.
In conjunction with the explanation of collimation mirror 20 and beam expanding lens 19 in Fig. 4 embodiment and Fig. 5 embodiment, referring to Fig. 5, to this implementation
The working principle of the multi-line laser radar is illustrated.Its working principle is that: when multi-line laser radar 1 is needed to object
Body 13 is scanned, so that the laser emitter 10 in the multi-line laser radar 1 is sent out when realizing the detection to the target object 13
It penetrates on shoot laser to collimating mirror 20, and collimating mirror 20 is exported after collimating shoot laser on directional light to beam expanding lens 19, is expanded
Mirror 19 further expands directional light, and the reflection that the shoot laser after expanding then is incident on secondary mirror 11 is oblique
On face, the secondary mirror 11 is again by incident laser reflection to the reflecting slant of principal reflection mirror 12, and principal reflection mirror 12 is again into one
Step by incident laser reflection to target object 13, realize the scanning to target object 13.When target object 13 will be incident
When laser to its surface carries out diffusing reflection, the laser of reflection can be reflexed on principal reflection mirror 12, and principal reflection mirror 12 passes through again
The reflecting slant of certain tilt angle, reflexes to the plane of incidence of receiving lens 14 for diffusing for target object 13, then
Receiving lens 14 are again converged the laser of transmission by its transmission plane, and each light beam after convergence is pooled to laser and is visited
It surveys in the linear array of device 15, laser detector 15 is allow to normally receive the reflected laser from target object 13, thus logical
It crosses and the reflected laser is analyzed and processed, realize the detection to target object 13.
In one embodiment, a kind of multi-line laser radar is additionally provided, Fig. 6 is the multi-thread laser that one embodiment provides
The schematic diagram of radar.As shown in fig. 6, multi-line laser radar described in the present embodiment can also include: beam splitter 24, the beam splitter
On the emitting light path of laser emitter 10, for the shoot laser of laser emitter 10 to be uniformly divided into multi beam.
Above-mentioned beam splitter 24 can be a kind of Amici prism, close for the shoot laser of laser emitter 10 to be divided into energy
The multiple laser of patibhaga-nimitta etc., specific direction, can be for 4 beams, 6 beams, 8 beams etc. as the quantity of specific light beam, which can be with
It is designed according to practical application request.The present embodiment is without limitation.For example, the concrete shape of beam splitter 24 may refer to
Incident laser can be divided into the laser on four beams (a, b, c, d) different directions by schematic diagram shown in Fig. 6 A, the beam splitter 24
Light beam.
In conjunction with the explanation of collimation mirror 20 and beam splitter 24 in Fig. 5 embodiment and Fig. 6 embodiment, referring to Fig. 6, to this implementation
The working principle of the multi-line laser radar is illustrated.Its working principle is that: when multi-line laser radar 1 is needed to object
Body 13 is scanned, so that the laser emitter 10 in the multi-line laser radar 1 is sent out when realizing the detection to the target object 13
It penetrates on shoot laser to collimating mirror 20, and collimating mirror 20 is exported after collimating shoot laser on directional light to beam splitter 24, beam splitting
Shoot laser is divided into the equal several light beams of multi beam energy approximation by mirror 24, then further by all directions after beam splitting
On light beam be incident in the reflecting slant of secondary mirror 11, which is again reflected into incident multiple laser main anti-
It penetrates in the reflecting slant of mirror 12, principal reflection mirror 12 is further by the laser reflection in incident all directions to target object
On 13, the scanning to target object 13 is realized.When the laser for being incident on its surface is carried out diffusing reflection by target object 13, reflection
Laser can reflex on principal reflection mirror 12, principal reflection mirror 12 is again by the reflecting slant of certain tilt angle, by object
Diffusing for body 13 reflexes to the plane of incidence of receiving lens 14, and then receiving lens 14 will be transmitted by its transmission plane again
Laser converged, and each light beam after convergence is pooled on laser detector 15, keeps laser detector 15 normal
The reflected multiple laser from target object 13 is received, thus by being analyzed and processed to the reflected laser,
Realize the detection to target object 13.
Multi-line laser radar provided by the above embodiment, comprising: laser transmitter projects shoot laser, and pass through beam splitter
Shoot laser is divided into the equal multiple light beams with specific direction of energy approximation, so that passing sequentially through secondary mirror and master again later
When the reflection of reflecting mirror is by the Laser emission to target object after beam splitting, search coverage is longitudinal where capable of expanding target object
The range of field angle is received more to realize single-shot, and also achieves the target object detection on multiple specific directions.It compares
Longitudinal visual field of search coverage is expanded in the beam splitter of the multiple multi-line laser radar of traditional more receipts, and this programme setting
Angle is equivalent to longitudinal field angle of the search coverage of the shoot laser of multiple laser emitters, and therefore, this programme only needs one to swash
The function of multi-thread detection can be realized in optical transmitting set, a beam splitter and laser detector linear array, and number of devices is less,
The structure for greatly simplifying multi-line laser radar thereby reduces the manufacturing cost of multi-line laser.In addition, due to using
Beam splitter realizes the beam splitting of laser on multiple specific directions, and the multi-line laser radar for proposing the application also has specific direction
The function of target acquisition.
In one embodiment, Fig. 7 is the schematic diagram for the multi-line laser radar that one embodiment provides.On as shown in fig. 7,
Stating multi-line laser radar 1 described in any embodiment can also include: shell 21；It is laser emitter 10, light shaping device 25, secondary anti-
It penetrates mirror 11, principal reflection mirror 12, receiving lens 14, laser detector 15 and is located at enclosure interior.
Above-mentioned shell 21 is used to accommodate all components in multi-line laser radar, for example, cavity 16, motor 17, support rod
18, laser emitter 10, collimating mirror 20, beam expanding lens 19, secondary mirror 11, principal reflection mirror 12, receiving lens 14, laser detector
15, beam splitter 24 etc..Optionally, above-mentioned shell 21 is a closed shell, and the upper-end part of driving of shell 21 may include one
The window of shoot laser.The concrete shape of shell 21 can be designed according to the actual application, the present embodiment does not do this
Limitation.
In one embodiment, Fig. 8 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in figure 8, figure
Transmissive window 211 is offered on the shell 21 in multi-line laser radar 1 in 7 embodiments；Transmissive window 211 is for going out shoot laser
It penetrates, while filtering out the interference light in reflection laser.
Wherein, transmissive window 211 can be a kind of filter, the projecting mirror 211, on the one hand emit laser in multi-line laser radar
When specifically for the laser that is reflected of outgoing principal reflection mirror 12, on the other hand receive target object 13 in multi-line laser radar and reflect
Laser when specifically for filtering out other light beams other than the laser that target object 13 is reflected back, i.e. interference light, and these light beams
It may include the light beam of other frequency ranges present in the light shafts or ambient enviroment in ambient enviroment.
In the present embodiment, transmissive window 211 can be used as the exit window of multi-line laser radar, therefore, when principal reflection mirror 12
At the laser reflection reflected to the surface of target object 13, the laser reflection that principal reflection mirror 12 needs first to be reflected is extremely
Transmissive window 211, with by transmissive window 211 by laser light incident to target object 13, optionally, referring to Fig. 8, in the present embodiment
There are certain angle thetas with horizontal line for transmissive window 211, and the specific size of this angle theta can be set according to actual needs
Meter, this implementation are without limitation.Such design, on the one hand, transmissive window 211 can be made to reflect back principal reflection mirror 12
Laser reflection causes so that the laser of the reflection be not reflected into receiving lens 14 to receiving lens to the top of shell 21
14 receive the interference of light beam；On the other hand, the interference light beam outside 21 range of shell can be filtered out, to improve multi-thread laser thunder
The detection accuracy reached.
In one embodiment, Fig. 9 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in figure 9, figure
The top of 21 inside of shell in multi-line laser radar 1 in 7 embodiments includes light-absorption layer 212；Light-absorption layer 212 is for absorbing
Penetrate the stray light that window 211 is reflected into the top of shell 21.
Wherein, light-absorption layer 212 can be a kind of absorbing mirror that can absorb any light beam or other can absorb light beam
Material layer.In the present embodiment, light-absorption layer 212 is located at the top of 21 inside of shell, is reflected into top for absorbing transmissive window 211
Light beam or other devices be reflected into top light beam, with reduce reflection stray light to the received light beam of receiving lens 14
Interference, to further improve the detection accuracy of multi-line laser radar.
In one embodiment, Figure 10 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in Figure 10,
The multi-line laser radar 1 that above-described embodiment is related to further include: decoder 22；Decoder 22 is used to record the angle of rotation of cavity 16
Degree.
In the present embodiment, decoder 22 can be connect with motor 17, and motor 17 is when driving cavity 16 to be rotated, electric
Machine 17 can send the signal comprising rotational angle information to decoder 22, and decoder 22 is allow to be decoded behaviour to the signal
Make, to get the rotational angle of cavity 16, and the rotational angle is recorded, to use later.
In one embodiment, Figure 11 is the schematic diagram for the multi-line laser radar that one embodiment provides.As shown in figure 11,
Multi-line laser radar 1 described in above-described embodiment further include: conductive slip ring 23；Conductive slip ring 23 is mounted on support rod 18
On；Conductive slip ring 23 for the power supply line of fixed laser transmitter 10, the power supply line of laser detector 15 and output lead, with
And the output lead of decoder 22.
In the present embodiment, above-mentioned conduction slip ring 23 is specifically used for visiting the power supply line of above-mentioned laser emitter 10, laser
The power supply line and output lead of survey device 15 and the output lead of decoder 22 are aggregating and are fixed, and the conduction is slided
Ring 23 can be slided on support rod 18, to adjust the fixation position of conducting wire.
It should be noted that may include a laser emitter in the multi-line laser radar that above-described embodiment is related to,
It can also include more present invention also provides a kind of multi-line laser radar, in the multi-line laser radar in a kind of application scenarios
A laser emitter, and this multiple laser emitter can be laid out by the way of laid out in parallel, and they and each optical path
The laser emitter in light path design and above-described embodiment between device is identical as the light path design between each light path devices, work
It is also identical to make principle, particular content refers to previous embodiment, herein not repeated explanation.It is understood that above-described embodiment
Multiple laser emitters can be set in the multi-line laser radar of offer, and between each laser emitter and each optical device
Light path design is identical as scheme described in previous embodiment, as long as so meeting the mentality of designing of this programme in the protection of the application
In range.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of multi-line laser radar, which is characterized in that the multi-line laser radar includes:
Laser emitter, for emitting shoot laser；
Light shaping device, for expanding the light beam coverage area of the shoot laser；
Secondary mirror, for principal reflection mirror will to be reflexed to by the shoot laser of the light shaping device；
The principal reflection mirror, the shoot laser for reflecting the secondary mirror reflex to the mesh in detection viewing field again
It marks on object, while being also used to receive reflection laser and the reflection laser is reflexed into laser detector；Wherein, the reflection
Laser is the laser that the shoot laser is returned after target object reflection；
Receiving lens, for the reflection laser to be collected to laser detector；
The laser detector, for receiving the reflection laser and exporting detectable signal；
Wherein, the laser emitter, the secondary mirror, the principal reflection mirror, the receiving lens, the laser detector
Around central axis synchronous rotary.
2. multi-line laser radar according to claim 1, which is characterized in that the laser detector is laser detector line
Array.
3. multi-line laser radar according to claim 1, which is characterized in that the multi-line laser radar further include: collimation
Mirror；The collimating mirror is located in the optical path of the shoot laser of the laser emitter, and the collimating mirror is for collimating the outgoing
Laser.
4. multi-line laser radar according to claim 3, which is characterized in that the light shaping device in the multi-line laser radar
For beam expanding lens；The beam expanding lens is located on the emitting light path of the laser emitter；
The beam expanding lens is used to expand the spot diameter of the shoot laser.
5. multi-line laser radar according to claim 3, which is characterized in that the light shaping device in the multi-line laser radar
For beam splitter；The beam splitter is located on the emitting light path of the laser emitter；
The beam splitter is used to the shoot laser being uniformly divided into multi beam.
6. multi-line laser radar according to claim 1, which is characterized in that the receiving lens are Fresnel Lenses.
7. multi-line laser radar according to claim 1, which is characterized in that the secondary mirror is located at the receiving lens
The center of top, the laser detector are located at the lower section of the receiving lens.
8. multi-line laser radar according to claim 1, which is characterized in that the multi-line laser radar further include: shell；
The laser emitter, the light shaping device, the secondary mirror, the principal reflection mirror, the receiving lens, the laser are visited
It surveys device and is located at the enclosure interior.
9. multi-line laser radar according to claim 8, which is characterized in that offer transmissive window on the shell；It is described
Transmissive window filters out the interference light in the reflection laser for being emitted the shoot laser.
10. multi-line laser radar according to claim 9, which is characterized in that the top of the case inside includes extinction
Layer；The light-absorption layer is used to absorb the stray light on the top that the transmissive window is reflected into the shell.
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